Multi-sensory human-simulated five-finger dexterous hand

Abstract

The invention provides a multi-sensory human-simulated five-finger dexterous hand and belongs to the technical field of robots. The multi-sensory human-simulated five-finger dexterous hand is composed of a palm, a thumb, an index finger, a middle finger, a ring finger, a little finger and multiple sensors, wherein the index finger and the middle finger are of the same structure, and the ring finger and the little finger are of the same structure. The multi-sensory human-simulated five-finger dexterous hand has 20 degrees of freedom in total, and the 20 degrees of freedom include 13 active degrees of freedom and 7 passive degrees of freedom. Each finger is formed by connecting a basic-end joint, a basic-end knuckle, a near-end joint, a near-end knuckle, a middle-end joint, a middle-end knuckle, a far-end joint, a far-end knuckle and a finger tip in sequence. The basis ends of all the fingers are connected with a driving module located on the outer side of the palm through a plurality of tendons. The driving module transmits power to all the fingers in a rope meridian driving mode. A control system acquires signals of the sensors and conducts closed-loop control over the dexterous hand. The 31 sensors in total include arrayed tactile sensors and angular sensors located at the finger tips, the knuckles and the palm. The multi-sensory human-simulated five-finger dexterous hand has the advantages of being strong in sensory ability, high in human simulation degree and capable of completing grabbing tasks better.

Description

technical field [0001] The invention relates to a multi-sensory humanoid five-finger dexterous hand, which belongs to the technical field of robots. Background technique [0002] In the past ten years, the dexterous hand technology has developed rapidly, and the dexterous hand can complete tasks such as grasping and manipulation like a human hand. Dexterous hands can be used in hazardous environments such as space, toxic waste disposal, as well as in industry, prosthetics, surgery and other fields. Many scientific research institutions at home and abroad are conducting research on dexterous hands and have developed some representative dexterous hands. DLR / HIT II dexterous hand is a dexterous hand jointly developed by Harbin Institute of Technology and German Aerospace Center. The DLR / HIT II dexterous hand has 5 fingers with the same structure, and each finger has 3 joints and 3 degrees of freedom. Each finger of the DLR / HIT II dexterous hand module consists of a base join...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the invention is to solve the problems of insufficient degrees of freedom and poor perception of existing dexterous hands

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